A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms
Karthik Soma,Koresh Khateri,Mahdi Pourgholi,Mohsen Montazeri,Lorenzo Sabattini,Giovanni Beltrame,Karthik Soma,Koresh Khateri,Mahdi Pourgholi,Mohsen Montazeri,Lorenzo Sabattini,Giovanni Beltrame
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a swarm topology. The set is complete in the sense that any other possible set of manipulation operations can be performed by a sequence of operations from our se...
